The Apertos reflective operating system: the concept and its implementation
OOPSLA '92 conference proceedings on Object-oriented programming systems, languages, and applications
An open architecture for robot entertainment
AGENTS '97 Proceedings of the first international conference on Autonomous agents
Artificial intelligence and mobile robots
RTAI: Real Time Application Interface
Linux Journal
An Behavior-based Robotics
FastSLAM: a factored solution to the simultaneous localization and mapping problem
Eighteenth national conference on Artificial intelligence
Concurrent and Real-Time Programming in Java
Concurrent and Real-Time Programming in Java
Hard Real-time Computing Systems: Predictable Scheduling Algorithms And Applications (Real-Time Systems Series)
Unified Behavior Framework for Reactive Robot Control
Journal of Intelligent and Robotic Systems
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Behavior-based systems form the basis of autonomous control for many robots, but there is a need to ensure these systems respond in a timely manner. Unexpected latency can adversely affect the quality of an autonomous system's operations, which in turn can affect lives and property in the real-world. A robots ability to detect and handle external events is paramount to providing safe and dependable operation. This paper presents a concurrent version of a behavior-based system called the Real-Time Unified Behavior Framework, which establishes a responsive basis of behavior-based control that does not bind the system developer to any single behavior hierarchy. The concurrent design of the framework is based on modern software engineering principles and only specifies a functional interface for components, leaving the implementation details to the developers. In addition, the individual behaviors are executed by a real-time scheduler, guaranteeing the responsiveness of routines that are critical to the autonomous system's safe operation. Experimental results demonstrate the ability of this approach to provide predictable temporal operation, independent of fluctuations in high-level computational loads.